#ifndef __MEBSP_PID_H
#define __MEBSP_PID_H 			   
  
#include "at32f403a_407.h"
#include <stdint.h>


typedef struct
{

  uint32_t wKp;
  uint32_t wKi;
  uint32_t wKd;
  
  int64_t wCurrErrorVal;
  int64_t wLastErrorVal;
  int64_t wIntegralVal;
  int64_t wDerivativeVal;
  
  int64_t wOutVal;
  
}_MB_PID_T;

extern _MB_PID_T MB_PID;

extern void MeBsp_PID_Init(void);
extern void MeBsp_PID_Hanl(void);

#endif





























